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Atmopod manual part 1 - General Information
Atmopod manual part 2 - Airframe Assembly
Atmopod manual part 3 - Electronics Installation
Atmopod manual part 4 - Setup and Flying

Atmopod™ Manual:  Part 4 - Setup and Flying

Step 1.  Battery and CG
Step 2.  Motor and propeller
Step 3.  Control surfaces
Step 4.  Floor exercises
Step 5.  Wall exercises
Step 6.  Ceiling exercises
Step 7.  Tether exercises
Step 8.  Liftoff
Step 9.  Hovering
Step 10.  Flying
Step 11.  Aerobatics
Maintenance and repair
Modifications and adaptations

The Atmopod™ VTOL is configured similarly to a delta wing airplane with two elevons and a rudder.  Its level flight pitch and yaw stability is very sensitive to the position of the center of gravity (CG) along the longitudinal axis.  The CG should be located somewhere between the center of the propeller well and a point 10 mm (0.39 in) forward of it.  To achieve drift-free hovering, the CG must lie on the longitudinal axis of the aircraft, at the intersection of the body and wing planes, the thrust line of the propeller must be coincident with this axis, and the same must be maintained vertical by the pilot.  For optimal vertical takeoff and landing, hovering, and horizontal flight, the aircraft must therefore be carefully assembled and balanced, more so than obtains with a conventional airplane.

 

  Step 1.  Battery and CG.  The CG should initially be set at a point 10 mm forward of the center of the prop well, i.e., 10 mm aft of the front edge of the belt.  Support the model on your index fingers placed underneath the carbon portion lateral to the belt slot on each side of the wing, at the suggested longitudinal position.  Verify that the craft is lying horizontally.  Adjust the longitudinal battery location as needed to achieve balance.  Optionally secure the battery in place with a length of Velcro strap wrapped around it through two slots cut in the lower body portion.

The CG can optionally be located more precisely on the main axis of the aircraft by using two separate cells lying against the front lower right and upper left parts of the body.  In this case, the cells would be wired in series using a custom-made Y connector. 
 

 

Step 2.  Motor and propeller.  The propeller is a right-handed airscrew and should spin in a clockwise direction when viewed from the rear of the aircraft.  Connect the battery and program your ESC according to the manufacturer's instructions.  Verify the direction of rotation of the prop when throttle is applied.  If it is wrong, switch any two of the three motor lead connections to rectify the situation.  Exercise extreme caution when handling an electric model with battery power applied.  Keep hands and other body parts well clear of the propeller.

I you happen to be using a rare pusher prop, which is a left-handed airscrew, then the rotation needs to be counterclockwise.  In either case, make sure that the front of the prop, with the size markings, faces toward the front of the aircraft.  A prop mounted backward will still work, albeit at reduced efficiency.  Note that an airscrew does not change its handedness when mounted backward.  In any event, if an upright Atmopod™ does not lift off at full throttle, the prop is probably spinning in the wrong direction.

Measure the all-up weight of your model by balancing it on the nose on a kitchen scale.  The reading should be in the neighborhood of 262 g (9.25 oz).  You can get a quick estimate of the stall thrust by applying full throttle and subtracting the weight from the new reading.  This maneuver is safer with an assistant operating the transmitter while you cautiously steady the upended aircraft, lightly holding on to two legs.
 

 

Step 3.  Control surfaces.  Set the transmitter parameters to achieve +- 45 degree travel in the two elevons and the rudder.  Use -50 exponential in each channel.  Implement elevon mixing for the elevons according to your radio system's instructions.  View your aircraft from the rear when setting the controls.  A right rudder input should move the rudder to the right, a left input to the left.  An up elevator input moves both elevons up, a down input moves them both down.  A right aileron input moves the right elevon up and the left elevon down, while a left aileron input moves the left elevon up and the right elevon down.

At this stage your four channels of proportional control are fully operational and your Atmopod™ VTOL is ready to fly.  If you are an experienced 3D aerobatic RC airplane pilot, you may feel confident enough to take the model to a nearby field and try flying it right away.  Do realize that this device is a different kind of air vehicle with unusual flight characteristics not found in conventional fixed wing aircraft or in helicopters, and takes some adjusting to.  We recommend that you first take some time to gain a better feel for its response and familiarize yourself with its handling in a more controlled environment.  The following exercises can be performed indoors in a small room and will help you climb up the learning curve without inflicting excessive damage to your model.
 

 

Step 4.  Floor exercises.  Roll control is a prominent issue in this design.  With a relatively large propeller spinning clockwise, the airframe will have a strong predilection to roll left.  Start out with floor exercises by setting the model on a smooth floor, such as concrete, tile, wood, or linoleum.  Give it just enough prop rpm to slide about on the ground with rudder and elevon inputs.  Practice canceling the natural roll tendency and guiding the vehicle in a predictable manner.  Note that on the floor the effects of rudder and elevator inputs are reversed.  For example, right rudder causes the vehicle to move to the left, and up elevator causes it to move in the direction of the body bottom.  On the other hand, right aileron input still produces a right roll.
 

  Next, practice making little hops on the ground, straight up and down.
  Unlike a helicopter, the Atmopod™ doesn't need to be tethered for this routine, and should be able to survive spills from low heights.
  The same hops can be rehearsed on a tabletop.  If you start losing control of your flyer, just cut the engine and let the plane fall down to the ground.  Consider the throttle stick your panic button.
  Step 5.  Wall exercises.  This VTOL's propeller is protected within the confines of its body and wing, opening up possibilities not available to other fliers.  For example, it can be made to hug the wall and kiss the ceiling.  For these drills, have an assistant cautiously hold it against the wall, then rev up the motor so the craft sticks to the wall.
  You can then lower the throttle to the point where it starts to slide down, then adjust thrust to achieve a controlled slide down the wall.
  Once on the floor, you can use the skills acquired earlier to move it away from the wall.  With further practice, you can fly it up toward the wall and stick it there again.  Much entertainment can be derived from this routine alone.
  Step 6.  Ceiling exercises.  Have an assistant hold the flyer against the ceiling and increase the throttle until its stays put.  Practice adjusting roll input for slow roll in one direction then the other.  If the throttle setting is too high, the craft will become unstable and fly off to a side.  Remember your panic mode:  simply kill the engine.
  Step 7.  Tether exercises.  Hang the Atmopod™ from the ceiling with a lamp hook or other attaching means, and a retractable cable such as a coiled telephone cord.  Allow a minimum of 4 ft of clearance from walls and other obstacles.
  Practice roll control and short straight liftoffs.
  Step 8.  Liftoff.  After you have mastered the above exercises, use an open area to sharpen your hop and liftoff skills.
  Choose soft soil or grass to avoid damaging your craft following a short free fall back to the ground.
  Challenge yourself by lifting off near benign obstacles.
  Step 9.  Hovering.  Hovering requires fast response and good eye-hand coordination.  Lengthen your hop exercises by staying in the air for increasing amounts of time while still remaining low to the ground. 
  Practice in a large indoor area that provides still air and an environment devoid of obstacles.  The VTOL is shown here doing a demo flight at RCX 2005 in Anaheim, CA.
  Challenge yourself by hovering under tree canopies.
  Hover your flyer as a walk-along companion on a hiking trail.
  Step 10.  Flying.  You can transition from hover to level flight by letting the craft lean forward while maintaining roll control.  Alternatively, an experienced airplane pilot can hand launch the Atmopod™ horizontally and fly it like an airplane right off, then land it on the body bottom.
  This light aircraft flies best indoors or outdoors in calm conditions.
  A row of large trees serves as a good windbreak.
  Dodge the trees.
  Enjoy a great sunset with the birds.
  Step 11.  Aerobatics.  Thanks to its symmetrical geometry, the Atmopod™ is aerodynamically as comfortable right side up, upside down, or on a side.  It can easily do a knife edge or maintain an X position.  The challenge is for the pilot to keep track of orientation and adjust control input accordingly. 
  Slow maneuvers low to the ground are both safe and spectacular.
  Maintenance and repair.  The airframe is designed to withstand impacts that would damage other model airplanes.  Still, rough landings may cause foam parts to crack or tear.  Use hot melt glue to fix these before flying again.  A cordless glue gun is a useful tool in the field.
 

This aircraft can take a lot of damage and be restored to flying condition in little time.  There is a noticeable increase in weight and degradation of performance with the accumulation of glue.  However, do not use the Atmopod™ with unrepaired weaknesses, since these compromise the integrity of the structure and may prematurely lead to its generalized failure. 
 

  Modifications and adaptations.  The Atmopod™ can be conceptualized as a ducted fan provided with lift- and thrust vectoring surfaces.  It can be modified and adapted for many applications.  Aerial photography is one possibility.  Gyroscopic stabilization would enable it to hover stably and serve as an aerial tripod.  The rudder can be split into two independent parts with an additional servo installed for improved roll control.  Floats on the feet and nose, and supplemental protection of the electronics, enable its operation from the surface of swimming pools and ponds. 
 

The device could be strapped horizontally on a floating platform and become an airboat.  A variable pitch propeller, providing reversible thrust, would expand the gamut of aerobatic maneuvers.  It would also allow the VTOL to right itself up from a side lying position on the ground and to stick to wall and ceiling by the feet.  Feel free to experiment safely.  If you come up with a cool idea, we would love to hear from you.  Please share your pictures and videos with us.

Atmopod manual part 1 - General Information
Atmopod manual part 2 - Airframe Assembly
Atmopod manual part 3 - Electronics Installation
Atmopod manual part 4 - Setup and Flying
 

 
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